Kyoung Kwan Ahn

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The pneumatic artificial muscle (PAM) is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as rubber actuator and PAM manipulators because it provides these advantages such as high strength and high power/ weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and(More)
Keywords: Shape memory alloy actuator Hysteresis compensation Sliding mode control Time delay estimation Tracking control of SMA a b s t r a c t This paper focuses on a simple and robust tracking control method based on a hyperbolic tangential sliding mode control (SMC) and time delay estimation (TDE) for a shape memory alloy (SMA) actuator. The TDE is used(More)
We investigated the possibility of applying a hybrid feed-forward inverse nonlinear autoregressive with exogenous input (NARX) fuzzy model-PID controller to a nonlinear pneumatic artificial muscle (PAM) robot arm to improve its joint angle position output performance. The proposed hybrid inverse NARX fuzzy-PID controller is implemented to control a PAM(More)